PX4-Autopilot/docs/ko/frames_sub/bluerov2.md

BlueROV2 (UUV)

The BlueROV2 is an affordable high-performance underwater vehicle that is perfect for inspections, research, and adventuring.

PX4 provides experimental support for an 8-thrust vectored configuration, known as the BlueROV2 Heavy Configuration.

구매처

BlueROV2 + BlueROV2 Heavy Configuration Retrofit Kit

모터 매핑과 배선

The motors must be wired to the flight controller following the standard instructions supplied by BlueRobotics for this vehicle .

The vehicle will then match the configuration documented in the Airframe Reference:

• MAIN1: motor 1 CCW, bow starboard horizontal, , propeller CCW
• MAIN2: motor 2 CCW, bow port horizontal, propeller CCW
• MAIN3: motor 3 CCW, stern starboard horizontal, propeller CW
• MAIN4: motor 4 CCW, stern port horizontal, propeller CW
• MAIN5: motor 5 CCW, bow starboard vertical, propeller CCW
• MAIN6: motor 6 CCW, bow port vertical, propeller CW
• MAIN7: motor 7 CCW, stern starboard vertical, propeller CW
• MAIN8: motor 8 CCW, stern port vertical, propeller CCW

Manual Modes

Mode	설명
Manual	Direct manual control of yaw and thrust.
Acro	Manual control of yaw/thrust, but keeps roll/pitch zero
Altitude	Manual control of x/y thrust and yaw. Control of height with PID, manually controlled by user. Keeps roll/pitch zero
Position	Controls x/y/z and yaw. Manually controlled by user. Keeps roll/pitch zero

기체 설정

BlueROV2 does not come with PX4 installed. You will need to:

1. Install PX4 Firmware
2. Set the Airframe. You will need to select the "BlueROV2 Heavy Configuration" as shown:

비디오